DetourObstacleAvoidance.h

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// Copyright Epic Games, Inc. All Rights Reserved.
// Modified version of Recast/Detour's source file
 
//
// Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
//
// This software is provided 'as-is', without any express or implied
// warranty.  In no event will the authors be held liable for any damages
// arising from the use of this software.
// Permission is granted to anyone to use this software for any purpose,
// including commercial applications, and to alter it and redistribute it
// freely, subject to the following restrictions:
// 1. The origin of this software must not be misrepresented; you must not
//    claim that you wrote the original software. If you use this software
//    in a product, an acknowledgment in the product documentation would be
//    appreciated but is not required.
// 2. Altered source versions must be plainly marked as such, and must not be
//    misrepresented as being the original software.
// 3. This notice may not be removed or altered from any source distribution.
//
 
#ifndef DETOUROBSTACLEAVOIDANCE_H
#define DETOUROBSTACLEAVOIDANCE_H
 
#include "CoreMinimal.h"
#include "Detour/DetourLargeWorldCoordinates.h"
 
struct dtObstacleCircle
{
    dtReal p[3];            
    dtReal vel[3];          
    dtReal dvel[3];         
    dtReal rad;             
    dtReal dp[3], np[3];    
};
 
struct dtObstacleSegment
{
    dtReal p[3], q[3];      
    unsigned char touch : 1;
    unsigned char canIgnore : 1;
};
 
class dtObstacleAvoidanceDebugData
{
public:
    NAVMESH_API dtObstacleAvoidanceDebugData();
    NAVMESH_API ~dtObstacleAvoidanceDebugData();
    
    NAVMESH_API bool init(const int maxSamples);
    NAVMESH_API void reset();
    NAVMESH_API void addSample(const dtReal* vel, const dtReal ssize, const dtReal pen,
                   const dtReal vpen, const dtReal vcpen, const dtReal spen, const dtReal tpen);
    
    NAVMESH_API void normalizeSamples();
    
    inline int getSampleCount() const { return m_nsamples; }
    inline const dtReal* getSampleVelocity(const int i) const { return &m_vel[i*3]; }
    inline dtReal getSampleSize(const int i) const { return m_ssize[i]; }
    inline dtReal getSamplePenalty(const int i) const { return m_pen[i]; }
    inline dtReal getSampleDesiredVelocityPenalty(const int i) const { return m_vpen[i]; }
    inline dtReal getSampleCurrentVelocityPenalty(const int i) const { return m_vcpen[i]; }
    inline dtReal getSamplePreferredSidePenalty(const int i) const { return m_spen[i]; }
    inline dtReal getSampleCollisionTimePenalty(const int i) const { return m_tpen[i]; }
 
private:
    int m_nsamples;
    int m_maxSamples;
    dtReal* m_vel;
    dtReal* m_ssize;
    dtReal* m_pen;
    dtReal* m_vpen;
    dtReal* m_vcpen;
    dtReal* m_spen;
    dtReal* m_tpen;
};
 
NAVMESH_API dtObstacleAvoidanceDebugData* dtAllocObstacleAvoidanceDebugData();
NAVMESH_API void dtFreeObstacleAvoidanceDebugData(dtObstacleAvoidanceDebugData* ptr);
 
 
static const int DT_MAX_PATTERN_DIVS = 32;      
static const int DT_MAX_PATTERN_RINGS = 4;      
static const int DT_MAX_CUSTOM_SAMPLES = 16;    
 
struct dtObstacleAvoidanceParams
{
    dtReal velBias;
    dtReal weightDesVel;
    dtReal weightCurVel;
    dtReal weightSide;
    dtReal weightToi;
    dtReal horizTime;
    unsigned char patternIdx;   
    unsigned char adaptiveDivs; 
    unsigned char adaptiveRings;    
    unsigned char adaptiveDepth;    
};
 
// [UE] custom sampling patterns
struct dtObstacleAvoidancePattern
{
    dtReal angles[DT_MAX_CUSTOM_SAMPLES];   
    dtReal radii[DT_MAX_CUSTOM_SAMPLES];        
    int nsamples;                           
};
 
class dtObstacleAvoidanceQuery
{
public:
    NAVMESH_API dtObstacleAvoidanceQuery();
    NAVMESH_API ~dtObstacleAvoidanceQuery();
    
    NAVMESH_API bool init(const int maxCircles, const int maxSegments, const int maxCustomPatterns);
    
    NAVMESH_API void reset();
 
    NAVMESH_API void addCircle(const dtReal* pos, const dtReal rad,
                   const dtReal* vel, const dtReal* dvel);
                   
    NAVMESH_API void addSegment(const dtReal* p, const dtReal* q, int flags = 0);
 
    // [UE] store new sampling pattern
    NAVMESH_API bool setCustomSamplingPattern(int idx, const dtReal* angles, const dtReal* radii, int nsamples);
 
    // [UE] get custom sampling pattern
    NAVMESH_API bool getCustomSamplingPattern(int idx, dtReal* angles, dtReal* radii, int* nsamples);
 
    // [UE] sample velocity using custom patterns
    NAVMESH_API int sampleVelocityCustom(const dtReal* pos, const dtReal rad,
                             const dtReal vmax, const dtReal vmult,
                             const dtReal* vel, const dtReal* dvel, dtReal* nvel,
                             const dtObstacleAvoidanceParams* params,
                             dtObstacleAvoidanceDebugData* debug = 0);
 
    NAVMESH_API int sampleVelocityAdaptive(const dtReal* pos, const dtReal rad,
                               const dtReal vmax, const dtReal vmult,
                               const dtReal* vel, const dtReal* dvel, dtReal* nvel,
                               const dtObstacleAvoidanceParams* params, 
                               dtObstacleAvoidanceDebugData* debug = 0);
    
    // [UE] main sampling function
    inline int sampleVelocity(const dtReal* pos, const dtReal rad,
        const dtReal vmax, const dtReal vmult,
        const dtReal* vel, const dtReal* dvel, dtReal* nvel,
        const dtObstacleAvoidanceParams* params,
        dtObstacleAvoidanceDebugData* debug = 0)
    {
        return (params->patternIdx == 0xff) ?
            sampleVelocityAdaptive(pos, rad, vmax, vmult, vel, dvel, nvel, params, debug) :
            sampleVelocityCustom(pos, rad, vmax, vmult, vel, dvel, nvel, params, debug);
    }
 
    inline int getObstacleCircleCount() const { return m_ncircles; }
    const dtObstacleCircle* getObstacleCircle(const int i) { return &m_circles[i]; }
 
    inline int getObstacleSegmentCount() const { return m_nsegments; }
    const dtObstacleSegment* getObstacleSegment(const int i) { return &m_segments[i]; }
 
    // [UE] sampling pattern count accessors
    inline int getCustomPatternCount() const { return m_maxPatterns; }
 
private:
 
    NAVMESH_API void prepare(const dtReal* pos, const dtReal* dvel);
 
    NAVMESH_API dtReal processSample(const dtReal* vcand, const dtReal cs,
                        const dtReal* pos, const dtReal rad,
                        const dtReal* vel, const dtReal* dvel,
                        dtObstacleAvoidanceDebugData* debug);
 
    NAVMESH_API dtObstacleCircle* insertCircle(const dtReal dist);
    NAVMESH_API dtObstacleSegment* insertSegment(const dtReal dist);
 
    dtObstacleAvoidanceParams m_params;
    dtReal m_invHorizTime;
    dtReal m_vmax;
    dtReal m_invVmax;
 
    dtObstacleAvoidancePattern* m_customPatterns;
    dtObstacleCircle* m_circles;
    dtObstacleSegment* m_segments;
 
    int m_maxPatterns;
 
    int m_maxCircles;
    int m_ncircles;
 
    int m_maxSegments;
    int m_nsegments;
};
 
NAVMESH_API dtObstacleAvoidanceQuery* dtAllocObstacleAvoidanceQuery();
NAVMESH_API void dtFreeObstacleAvoidanceQuery(dtObstacleAvoidanceQuery* ptr);
 
 
#endif // DETOUROBSTACLEAVOIDANCE_H